/****************************************************************************
 *
 *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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 ****************************************************************************/

#include "failureDetectorCheck.hpp"

void FailureDetectorChecks::checkAndReport(const Context &context, Report &reporter)
{
	if (context.status().failure_detector_status != vehicle_status_s::FAILURE_NONE) {
		if (context.status().failure_detector_status & vehicle_status_s::FAILURE_ROLL) {
			/* EVENT
			 * @description
			 * The vehicle exceeded the maximum configured roll angle.
			 *
			 * <profile name="dev">
			 * This check can be configured via <param>FD_FAIL_R</param> parameter.
			 * </profile>
			 */
			reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_failure_detector_roll"),
						    events::Log::Critical, "Attitude failure detected");

			if (reporter.mavlink_log_pub()) {
				mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Attitude failure (roll)");
			}

		} else if (context.status().failure_detector_status & vehicle_status_s::FAILURE_PITCH) {
			/* EVENT
			 * @description
			 * The vehicle exceeded the maximum configured pitch angle.
			 *
			 * <profile name="dev">
			 * This check can be configured via <param>FD_FAIL_P</param> parameter.
			 * </profile>
			 */
			reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_failure_detector_pitch"),
						    events::Log::Critical, "Attitude failure detected");

			if (reporter.mavlink_log_pub()) {
				mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Attitude failure (pitch)");
			}
		}

		if (context.status().failure_detector_status & vehicle_status_s::FAILURE_ALT) {
			/* EVENT
			 */
			reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_failure_detector_alt"),
						    events::Log::Critical, "Altitude failure detected");

			if (reporter.mavlink_log_pub()) {
				mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Altitude failure");
			}
		}

		if (context.status().failure_detector_status & vehicle_status_s::FAILURE_EXT) {
			/* EVENT
			 * @description
			 * <profile name="dev">
			 * This check can be configured via <param>FD_EXT_ATS_EN</param> parameter.
			 * </profile>
			 */
			reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_failure_detector_ext"),
						    events::Log::Critical, "Failure triggered by external system");

			if (reporter.mavlink_log_pub()) {
				mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Failure triggered by external system");
			}
		}

		if (context.status().failure_detector_status & vehicle_status_s::FAILURE_ARM_ESC) {
			/* EVENT
			 * @description
			 * One or more ESCs failed to arm.
			 *
			 * <profile name="dev">
			 * This check can be configured via <param>FD_ESCS_EN</param> parameter.
			 * </profile>
			 */
			reporter.healthFailure(NavModes::All, health_component_t::motors_escs, events::ID("check_failure_detector_arm_esc"),
					       events::Log::Critical, "ESC failure");

			if (reporter.mavlink_log_pub()) {
				mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: ESC failure detected");
			}
		}
	}
}
